aikido::constraint::Satisfied Class Reference

A constraint which is always satisfied. More...

#include <aikido/constraint/Satisfied.hpp>

Inheritance diagram for aikido::constraint::Satisfied:

Public Member Functions
	Satisfied (statespace::ConstStateSpacePtr _space)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
std::size_t	getConstraintDimension () const override
	Returns 0. More...
std::vector< constraint::ConstraintType >	getConstraintTypes () const override
	Returns an empty vector. More...
bool	isSatisfied (const statespace::StateSpace::State *state, TestableOutcome *outcome=nullptr) const override
	Returns true. More...
std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it. More...
bool	project (const statespace::StateSpace::State *_s, statespace::StateSpace::State *_out) const override
	Sets _out to _s. More...
void	getValue (const statespace::StateSpace::State *_s, Eigen::VectorXd &_out) const override
	Returns an empty vector. More...
void	getJacobian (const statespace::StateSpace::State *_s, Eigen::MatrixXd &_out) const override
	Returns an empty matrix. More...
virtual void	getValueAndJacobian (const statespace::StateSpace::State *_s, Eigen::VectorXd &_val, Eigen::MatrixXd &_jac) const
	Get both Value and Jacobian. More...
Public Member Functions inherited from aikido::constraint::Differentiable
virtual	~Differentiable ()=default
	Destructor. More...
virtual void	getValueAndJacobian (const statespace::StateSpace::State *_s, Eigen::VectorXd &_val, Eigen::MatrixXd &_jac) const
	Get both Value and Jacobian. More...
Public Member Functions inherited from aikido::constraint::Projectable
virtual	~Projectable ()=default
virtual bool	project (statespace::StateSpace::State *_s) const
	Performs an in-place projection. More...
Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Attributes
statespace::ConstStateSpacePtr	mStateSpace

Detailed Description

A constraint which is always satisfied.

This class is often used in CartesianProduct constraints to represent that some subspace doesn't have any constraint.

Constructor & Destructor Documentation

Satisfied()

aikido::constraint::Satisfied::Satisfied ( statespace::ConstStateSpacePtr  _space )

explicit

Constructor.

Parameters

_space

StateSpace in which this constraint operates.

Member Function Documentation

createOutcome()

std::unique_ptr<TestableOutcome> aikido::constraint::Satisfied::createOutcome ( ) const

overridevirtual

Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it.

Implements aikido::constraint::Testable.

getConstraintDimension()

std::size_t aikido::constraint::Satisfied::getConstraintDimension ( ) const

overridevirtual

Returns 0.

Implements aikido::constraint::Differentiable.

getConstraintTypes()

std::vector<constraint::ConstraintType> aikido::constraint::Satisfied::getConstraintTypes ( ) const

overridevirtual

Returns an empty vector.

Implements aikido::constraint::Differentiable.

getJacobian()

void aikido::constraint::Satisfied::getJacobian ( const statespace::StateSpace::State *  _s, Eigen::MatrixXd &  _out  ) const

overridevirtual

Returns an empty matrix.

Parameters

	_s	input state
[out]	_out	empty Jacobian matrix

Implements aikido::constraint::Differentiable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::Satisfied::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Differentiable.

getValue()

void aikido::constraint::Satisfied::getValue ( const statespace::StateSpace::State *  _s, Eigen::VectorXd &  _out  ) const

overridevirtual

Returns an empty vector.

Parameters

	_s	input state
[out]	_out	returns an empty vector

Implements aikido::constraint::Differentiable.

getValueAndJacobian()

virtual void aikido::constraint::Differentiable::getValueAndJacobian

Get both Value and Jacobian.

Parameters

	_s	State to be evaluated.
[out]	_val	Value of constraints.
[out]	_jac	Jacoiban of constraints.

isSatisfied()

bool aikido::constraint::Satisfied::isSatisfied ( const statespace::StateSpace::State *  state, TestableOutcome *  outcome = nullptr  ) const

overridevirtual

Returns true.

Parameters

state	a state in getStateSpace()
outcome	object to populate with information about satisfiability result.

Implements aikido::constraint::Testable.

project()

bool aikido::constraint::Satisfied::project ( const statespace::StateSpace::State *  _s, statespace::StateSpace::State *  _out  ) const

overridevirtual

Sets _out to _s.

Parameters

	_s	input state
[out]	_out	output state

Implements aikido::constraint::Projectable.

Member Data Documentation

mStateSpace

statespace::ConstStateSpacePtr aikido::constraint::Satisfied::mStateSpace

private